KR102599588B1 - 맵 상에서 차량의 위치를 추정하는 방법 - Google Patents

맵 상에서 차량의 위치를 추정하는 방법 Download PDF

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Publication number
KR102599588B1
KR102599588B1 KR1020207024656A KR20207024656A KR102599588B1 KR 102599588 B1 KR102599588 B1 KR 102599588B1 KR 1020207024656 A KR1020207024656 A KR 1020207024656A KR 20207024656 A KR20207024656 A KR 20207024656A KR 102599588 B1 KR102599588 B1 KR 102599588B1
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KR
South Korea
Prior art keywords
vehicle
particles
map
particle
computer
Prior art date
Application number
KR1020207024656A
Other languages
English (en)
Korean (ko)
Other versions
KR20200111774A (ko
Inventor
프랑크 리
필리프 보니페
자비에르 이바네-구즈망
Original Assignee
르노 에스.아.에스.
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Filing date
Publication date
Application filed by 르노 에스.아.에스. filed Critical 르노 에스.아.에스.
Publication of KR20200111774A publication Critical patent/KR20200111774A/ko
Application granted granted Critical
Publication of KR102599588B1 publication Critical patent/KR102599588B1/ko

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
    • G01C21/30—Map- or contour-matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/50—Determining position whereby the position solution is constrained to lie upon a particular curve or surface, e.g. for locomotives on railway tracks
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G05D2201/0213—

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Databases & Information Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Data Mining & Analysis (AREA)
  • General Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)
  • Instructional Devices (AREA)
KR1020207024656A 2018-02-27 2019-02-12 맵 상에서 차량의 위치를 추정하는 방법 KR102599588B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR1851705A FR3078398B1 (fr) 2018-02-27 2018-02-27 Procede d’estimation de la position d’un vehicule sur une carte
FR1851705 2018-02-27
PCT/EP2019/053459 WO2019166221A1 (fr) 2018-02-27 2019-02-12 Procédé d'estimation de la position d'un véhicule sur une carte

Publications (2)

Publication Number Publication Date
KR20200111774A KR20200111774A (ko) 2020-09-29
KR102599588B1 true KR102599588B1 (ko) 2023-11-07

Family

ID=62017536

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020207024656A KR102599588B1 (ko) 2018-02-27 2019-02-12 맵 상에서 차량의 위치를 추정하는 방법

Country Status (7)

Country Link
US (1) US20210041248A1 (fr)
EP (1) EP3759435A1 (fr)
JP (1) JP7190493B2 (fr)
KR (1) KR102599588B1 (fr)
CN (1) CN111656139A (fr)
FR (1) FR3078398B1 (fr)
WO (1) WO2019166221A1 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018118220B4 (de) * 2018-07-27 2020-04-16 Man Truck & Bus Se Verfahren zur Schätzung der Lokalisierungsgüte bei der Eigenlokalisierung eines Fahrzeuges, Vorrichtung für die Durchführung von Verfahrensschritten des Verfahrens, Fahrzeug sowie Computerprogramm
EP3832262B1 (fr) * 2019-12-05 2022-09-14 Aptiv Technologies Limited Procédés et systèmes pour déterminer une ego-pose initiale pour l'initialisation de l'auto-localisation
FR3106665B1 (fr) * 2020-01-27 2022-02-18 Continental Automotive Procédé et dispositif de localisation d’un véhicule
FR3128304B1 (fr) * 2021-10-14 2023-12-01 Renault Sas Procédé de détection d'une limite d'une voie de circulation
CN114910081B (zh) * 2022-05-26 2023-03-10 阿波罗智联(北京)科技有限公司 车辆定位方法、装置及电子设备
CN117407480B (zh) * 2023-12-14 2024-03-19 杭州计算机外部设备研究所(中国电子科技集团公司第五十二研究所) 一种基于光电云台的地图显示方法及装置

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130346423A1 (en) * 2012-06-08 2013-12-26 Apple Inc. Determining Location and Direction of Travel Using Map Vector Constraints
US20150018018A1 (en) * 2013-07-12 2015-01-15 Microsoft Corporation Indoor Location-Finding using Magnetic Field Anomalies

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SE0004096D0 (sv) * 2000-11-08 2000-11-08 Nira Automotive Ab Positioning system
DE102013217060B4 (de) 2013-08-27 2023-08-03 Bayerische Motoren Werke Aktiengesellschaft Spurgenaue Positionierung eines Fahrzeugs
CN103542857B (zh) * 2013-10-31 2016-09-07 银江股份有限公司 一种gps导航地图匹配方法
US10495464B2 (en) * 2013-12-02 2019-12-03 The Regents Of The University Of California Systems and methods for GNSS SNR probabilistic localization and 3-D mapping
US9151626B1 (en) * 2014-04-11 2015-10-06 Nissan North America, Inc. Vehicle position estimation system
EP3161419B1 (fr) * 2014-06-26 2018-08-29 Gipstech S.r.l. Procédé de localisation d'un individu
JP2019082328A (ja) * 2016-02-16 2019-05-30 株式会社日立製作所 位置推定装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20130346423A1 (en) * 2012-06-08 2013-12-26 Apple Inc. Determining Location and Direction of Travel Using Map Vector Constraints
US20150018018A1 (en) * 2013-07-12 2015-01-15 Microsoft Corporation Indoor Location-Finding using Magnetic Field Anomalies

Also Published As

Publication number Publication date
EP3759435A1 (fr) 2021-01-06
CN111656139A (zh) 2020-09-11
KR20200111774A (ko) 2020-09-29
JP7190493B2 (ja) 2022-12-15
FR3078398A1 (fr) 2019-08-30
FR3078398B1 (fr) 2020-08-07
JP2021515184A (ja) 2021-06-17
US20210041248A1 (en) 2021-02-11
WO2019166221A1 (fr) 2019-09-06

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